US4793707A - Illuminating device and method for a component detecting apparatus - Google Patents

Illuminating device and method for a component detecting apparatus Download PDF

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Publication number
US4793707A
US4793707A US07/060,554 US6055487A US4793707A US 4793707 A US4793707 A US 4793707A US 6055487 A US6055487 A US 6055487A US 4793707 A US4793707 A US 4793707A
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United States
Prior art keywords
detection position
suction nozzle
component
illuminator
suction
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Expired - Lifetime
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US07/060,554
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English (en)
Inventor
Kanji Hata
Masahiro Maruyama
Eiji Itemadani
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Holdings Corp
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Matsushita Electric Industrial Co Ltd
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Assigned to MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD. reassignment MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: HATA, KANJI, ITEMADANI, EIJI, MARUYAMA, MASAHIRO
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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages
    • H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
    • H05K13/0812—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53087—Means to assemble or disassemble with signal, scale, illuminator, or optical viewer
    • Y10T29/53091—Means to assemble or disassemble with signal, scale, illuminator, or optical viewer for work-holder for assembly or disassembly
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/5313—Means to assemble electrical device
    • Y10T29/53261—Means to align and advance work part

Definitions

  • the present invention relates generally to a component detection method and apparatus therefor, and particularly to an improvement in a method and apparatus for providing illumination to enable optical detection of position which is suitable for an electronic circuit assembling operation.
  • a back reflector 43 consisting of a good light reflecting substance is provided around a suction nozzle 42, by which a small electronic component P is sucked at its lower end tip, and light beams 44', 44' are projected from light projectors 44, 44 on the lower face of the back reflector 43, so that a silhouette image of the small electronic component P is given to an image detection camera 45 for detection of the existence or fact of being held by suction at a right position, of the small electronic component P.
  • the above-mentioned conventional component-detection apparatus has a problem that when the electronic component to be gripped by suction by the nozzle 42 is sometimes so large as, e.g. 36 mm length, a back reflector 43 of very large size becomes necessary to give large silhouette for the detection camera, and such large back reflector 43 inevitably makes the suction head large 41 and lowers the moving speed, hence the mounting speed, and hence disabling high speed assemblage.
  • the object of the present invention is to provide an improved method and apparatus for optical component detection, and particularly for use in a method of illumination which enables uniform illumination for both of small and large components and further permits one to eliminate the hitherto-provided large size back reflector.
  • the method of component-detection by illumination for making a silhouette of a component in accordance with the present invention comprises the steps of:
  • a first illumination means fixed to the suction nozzle illuminates the component to make a silhouette image of the small component
  • a second illumination means which is mounted apart from the suction nozzle and is disposed at a level which is lower than the first illumination means but above the lower end of suction nozzle, illuminates the component to make a silhouette image of the large component.
  • a component detection apparatus comprising:
  • a first illumination means which has a smaller illumination area and is provided fixed around a component suction nozzle having a suction opening at its lower end to make a silhouette of a small component suction-gripped by the suction nozzle, and
  • a second illumination means which has larger illumination area and is provided further around the first illumination means in a manner to permit the suction nozzle to pass therethrough and, at a position which is lower than the first illumination means and is higher than the lower end of the suction nozzle.
  • the second illumination means can be illuminated by a light source common with that of the first illumination means or by a light source provided independently for itself, and the light source is preferably adjusted so that the intensities of the illumination of the second illumination means seen from an illuminometer is equivalent that to that of the first illumination means.
  • the above-mentioned first illumination means may be a substantially cone-shaped reflector disposed around the suction nozzle, and the second illumination means may consist of two slidingly openable-closable movable light diffusion means which is to be opened left and right from the closed position which is substantially to the position of axis of the suction nozzle, for passing the large component suction-gripped by the suction nozzle.
  • the silhouette image to be projected to a pattern detection device is made by the first illumination means.
  • the silhouette image is made by the second illumination means which is located relatively above the large component, which passes down to a position lower than the level of the diffusion means.
  • the illumination can be made uniformly at equal illumination intensity both for a small component such as a small IC chip and a large component such as a molded LSI, so that the suction nozzle only need to have the small first illumination means, and does not itself need to carry large illumination means as hitherto was considered to be necessary. Therefore, the overall suction nozzle can be made small and light weight, which enables fast moving thereof.
  • the suction head can be operated in the same way both for small components and large components, making substantially the same illumination silhouette images of both types of components for optical detection.
  • FIG. 1, FIG. 2, FIG. 3, FIG. 4 and FIG. 5 show a first embodiment of the present invention.
  • FIG. 1 is a partially-sectional front view showing a state of conducting pattern recognition of in regard to a small component.
  • FIG. 2(a) and FIG. 2(b) are partially-sectional front views showing operations when a large component is suction-gripped by the nozzle.
  • FIG. 3 is a sectional elevation view of an essential part of the component detection apparatus.
  • FIG. 4 is a plan view of the essential part shown in FIG. 3.
  • FIG. 5 is an overall perspective view of a component mounting apparatus which utilizes the component-detection apparatus in accordance with the present invention.
  • FIG. 6, FIG. 7 and FIG. 8 show a second embodiment of the present invention, wherein:
  • FIG. 6 is a partially-sectional front view of an essential part of the second embodiment when a small component is suction-gripped by a suction nozzle
  • FIG. 7 is a partially-sectional front view showing a state when a large component is suction-gripped by the suction nozzle.
  • FIG. 8(a) is an enlarged sectional view of the light diffusion means.
  • FIG. 8(b) is a further-enlarged sectional side view of FIG. 8(a).
  • FIG. 8(c) is the smaller further-enlarged sectional view of the part C of FIG. 8(a).
  • FIG. 9 is a partially-sectional front view of an essential part of a modification of the second embodiment.
  • FIG. 10 is the schematical sectional front view of a conventional optical component detection apparatus.
  • FIG. 5 is a perspective view showing substantial parts of a component-mounting apparatus
  • the component detection apparatus in accordance with the present invention is included and method for the component detection in accordance with the present invention is carried out.
  • a turntable 1 having eight arms around a disk-shaped core is rotatably held by a shaft 101.
  • the turntable 1 is driven intermittently, each time for moving the turn table through a further 45° angle, by the shaft 101.
  • Marks S1, S2, S3, S4, S5, S6, S7 and S8 designate stop positions of respective arms.
  • Each arm has a respective holder which is mounted for rotation about a respective longitudinal axis, which is vertically oriented.
  • Each turn holder 2 has several different kinds of suction nozzles, 3, 3, . . . , and the positions of these suction nozzles 3, 3, . . . of different kinds on each arm is varied or shifted by rotation of the respective holders 2 through the driving of a gear 200 connected thereto.
  • a slidable table 4 which is slidable in an X direction is provided, so that a number of component-feeding cassettes 5, 5, . . . are intermittently moved in the X direction to supply various kinds of components.
  • an X-Y table 6 is provided for carrying a printed circuit substrate (hereafter substrate) 10, onto which the picked up component is mounted.
  • the Y direction is perpendicular to the X direction and is also the direction which extends from the axis of the shaft 101 to the front position (S5).
  • a known radial direction position-adjusting device 7 comprises a pair of clamp members 7a and 7b which push the component in the correct direction and toward the correct axial position.
  • the component-detection apparatus 8 detects X-Y positions and angular positions of the component P by projecting a silhouette image of the component P onto a CCD recognition camera 11.
  • a pair of reflection mirrors 12a and 12b is provided to permit light to pass, and the belowmentioned compoent-illumination apparatus 100 in accordance with the present invention is provided. Details of the component-detection apparatus are omitted in FIG. 5 for simplicity of illustration.
  • the above-mentioned suction nozzle rotating means 9 is constituted by a driving shaft 15 which is to be pressed on a contacting top face 17 of the suction nozzle 3 when adjustment is made.
  • the adjusting shaft 16 is pushed down by a known up-down thrust bearing holder (not shown) and the motor 13 is rotated for necessary angle.
  • the stopping positions S6 and S7 are positions of a substandard goods-receiving bucket 18 and a nozzle selection apparatus.
  • the nozzle selection apparatus comprises a pinion 19b which is provided to be engaged for the selection motion with the gear 200 which is connected to the holder 2 and driven by a motor 19a.
  • component-detection means 8 especially the optical component-illumination apparatus 100, with reference to FIG. 1, FIG. 2(a) and FIG. 2b, FIG. 3 and FIG. 4.
  • the suction nozzle 3 has an upper larger diameter part 21 and a cone-shaped reflector part 23 therebetween.
  • the component P is suction-gripped and held at the lower end tip of the sucking nozzle 3.
  • the cone-shaped reflector 23 as a first illumination means is made of a translucent material such as frosted glass, milk-white glass or translucent plastic, and a part of the light projected thereto is irregularly reflected at the surface thereof, and the other part of the light goes inside of the translucent substance and again comes out irregularly, and thus effectively makes irregular reflection.
  • a pair of light sources 24, 24 is provided at substantially the same level as the cone-shaped reflector 23 in a manner such that the cone-shaped reflector 23 reflects light from the light sources 24, 24 downward, thereby making a silhouette image of the component P. It is preferable that two or more light sources 24 are provided around the cone-shaped reflector 23 so as to uniformly illuminate the reflector 23. At a level which is lower than the light sources 24, 24, a plurality of second translucent sheets 25, 25 or diffusion means is provided as a second illumination means. Each translucent plate 25 is made of frosted glass sheet or milk white glass sheet or translucent plastic sheet or the like translucent sheet. As shown in FIG.
  • the diffusion sheets 25, 25 are configurated in two divided sheets which are divided by a line crossing the axis of the suction nozzle 3, and a half circle-shaped recess is formed on each slidable translucent sheet 25a or 25b, so as to make a through-hole 26 when two translucent sheets close their gap as shown in FIG. 4.
  • Two slidable translucent sheets are closed as shown in the state of FIG. 4 when a small size component is suction-gripped by the suction nozzle 3, but the two slidable translucent sheets 25a and 25b are opened-apart as shown in FIG.
  • FIG. 3 and FIG. 4 show a mechanical construction for moving the translucent sheets 25a and 26b, and related parts such as light sources 24, 24.
  • the two divided light diffusion sheets 25a and 25b are held, by means of respective brackets 27a and 27b, by a pair of slidable levers 28a and 28b.
  • These slidable levers 28a and 28b are slidably held by a frame 9, and racks 30, 30 are formed on opposing faces of the respective slidable levers 28a and 28b.
  • a pinion 31 is provided in engagement with the racks 30, 30, so as to relatively make the slidable levers 28a and 28b slide in opposite directions.
  • One slidable lever 28a is connected to a known driving cylinder 32. As shown in FIG. 3, the light sources 24, 24 are held by supporting members 33 and 33 on a frame of the apparatus.
  • position and pattern acknowledgement of small electronic components suction-gripped by the suction nozzle 3 are made as follows:
  • the suction nozzle stops at the medium position, which is the component-recognition preparation position, as shown in FIG. 1 by imaginary line (chain line) the suction nozzle 3 further moves downward to the component-recognition position.
  • the suction nozzle 3 passes through the opening 26, which is circle-shaped in the closing state of the light diffusing sheets 25a and 25b, and the component P suction-gripped at the lower end tip of the suction-gripped nozzle 3 is situated lower than the light diffusing sheets 25a and 25b.
  • the suction nozzle 3 goes up with the component P suction-gripped thereby. After turning of the turntable 1 to the component-mounting position, the suction nozzle 3 again goes down to a predetermined mounting level, and mounts the component P at the predetermined position on the printed circuit substrate 10. At the mounting of the component, the position error, if any, of the suction-gripped component can be adjusted by small rotation of the suction nozzle 3.
  • FIG. 2(a) and FIG. 2(b) show the state when a larger component P' is suction-gripped by a larger suction nozzle 3'.
  • the large component P' After being suction-gripped by the suction nozzle, the large component P' is brought to the optical recognition position S3, and then is brought down to a low recognition level position.
  • the driving cylinder 32 works and opens the light-diffusing sheets 25a and 25b from each other, thereby to allow the downward passage of the large component P' through the widely opened gap therebetween.
  • the light diffusing sheets 25a and 25b restore to the closed position. Accordingly, the light emitted from the light sources 24, 24 illuminates the upper face of the closed light diffusing sheets 25a, 25b, which emit diffused light downwards through the light-diffusing sheets 25a and 25b.
  • a silhouette of the large component P' is projected downwards to the CCD recognition camera 11.
  • the light diffusing sheets 25a and 25b again open and the suction nozzle 3' and the suction-gripped large component P' are raised and brought to the mounting position S5.
  • the suction nozzles for large components and small components can be made common.
  • a slot may be formed on one fixed light-diffusing sheet, so that the suction nozzle may move laterally therethrough.
  • FIG. 6 FIG. 7, FIG. 8(a).
  • FIG. 8(b) and FIG. 8(c) FIG. 8(a)
  • the main difference between the second embodiment and the first embodiment is that, in the second embodiment the light-diffusing sheets 35a and 35b have their own light sources. Therefore, for the common parts with the first embodiment, the same numerals and marks are used, redundant elucidations thereof are omitted, and only the features which are different from those of the first embodiment are elucidated hereafter.
  • the light-diffusing sheet 35 As shown in FIGS. 6 and 8, the light-diffusing sheet 35, as the second illumination means, is provided under the light sources 24, 24 in a manner to surround the suction nozzle 3.
  • the light-diffusing sheet 35 is configurated in two pieces 35a and 35b divided by a vertical plane including the axis of the suction nozzle 3.
  • Respective divided light-diffusing sheets 35a and 35b comprise wedge-shaped translucent plastic sheets 36, 36 and reflector sheets 37, 37 made of aluminum sheets, or the like bonded on the upper faces of the former, and small light sources 38, 38, for instance LED, provided in recesses made in the thicker end parts of the wedge-shaped light diffusing sheets 35a, 35b.
  • the lower faces of the reflector sheets 37, 37 are roughened as shown in FIG.
  • the second illumination means comprising the light-diffusing sheets 36, 36, small light sources 38, 38 and reflector sheets 37, 37 are mounted in a slidable manner as shown in FIG. 7 (by arrows m, m), so that the two diffusing sheets 36, 36 part from each other thereby to make a wide opening therebetween for allowing a large component P' therethrough.
  • the operation of the above-mentioned second embodiment shown in FIG. 6 to FIG. 8(c) is substantially the same as that of the first embodiment.
  • the light intensities of the small light sources 38, 38 are adjusted independently from that of the light sources 24, 24 so that illuminations of the first illumination means 23 and the second illumination means 35a, 35b are equivalent to each other.
  • the position recognition by the CCD recognition camera becomes stable, and recognition can be made with high reliability.
  • the lower faces of the light-diffusing sheet 36, 36 are not necessarily limited to being roughened, but may be smooth faced.
  • FIG. 9 shows still another modification, wherein the first illumination means has built-in-type light sources 39, 39, instead of the light-projecting light sources 24, 24 of the previous embodiments.
  • the component-detection method and apparatus in accordance with the present invention can, of course, recognize the shape or kinds of object components, besides the position of a suction-gripped component.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Operations Research (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Supply And Installment Of Electrical Components (AREA)
  • Length Measuring Devices By Optical Means (AREA)
US07/060,554 1986-06-12 1987-06-11 Illuminating device and method for a component detecting apparatus Expired - Lifetime US4793707A (en)

Applications Claiming Priority (2)

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JP13658786 1986-06-12
JP61-136587 1986-06-12

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US4867569A (en) * 1986-08-22 1989-09-19 Sanyo Electric Co., Ltd. Apparatus for detecting a position of an electronic part
US4951383A (en) * 1988-11-14 1990-08-28 Sanyo Electric Co., Ltd. Electronic parts automatic mounting apparatus
EP0395002A2 (en) * 1989-04-28 1990-10-31 Sanyo Electric Co., Ltd. Electronic parts mounting apparatus
US5042709A (en) * 1990-06-22 1991-08-27 International Business Machines Corporation Methods and apparatus for precise alignment of objects
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US5088187A (en) * 1989-06-07 1992-02-18 Sanyo Electric Co., Ltd. Apparatus for automatically mounting electronic components
EP0485075A1 (en) * 1990-11-06 1992-05-13 Emhart Inc. Pick-up tool for use in surface mount technology
US5131139A (en) * 1990-01-24 1992-07-21 Matsushita Electric Industrial Co., Ltd. Electrical component placing apparatus
US5285888A (en) * 1991-09-25 1994-02-15 Kabushiki Kaisha Toshiba Parts mounting apparatus
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US5743001A (en) * 1996-08-16 1998-04-28 Amistar Corporation Surface mount placement system with single step, multiple place carriage
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US20030029033A1 (en) * 2001-08-08 2003-02-13 Matsushita Electric Industrial Co., Ltd. Apparatus and method for mounting electronic parts
US20050071997A1 (en) * 2002-11-29 2005-04-07 Hitachi High-Tech Instruments Co., Ltd. Electronic component mounting apparatus and electronic component mounting method
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US7423743B2 (en) 2000-12-29 2008-09-09 Icos Vision Systems Nv Method and an apparatus for measuring positions of contact elements of an electronic component
US7508974B2 (en) 1998-01-16 2009-03-24 Scanner Technologies Corporation Electronic component products and method of manufacturing electronic component products
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JP5041878B2 (ja) * 2007-05-22 2012-10-03 ヤマハ発動機株式会社 部品認識装置、表面実装機、及び部品試験装置
JP2013238528A (ja) * 2012-05-16 2013-11-28 Waida Seisakusho:Kk 形状測定装置、及び形状測定方法
CN114227229A (zh) * 2022-02-11 2022-03-25 杭州脉兴机械有限公司 一种全自动扣盖装配机构

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Cited By (47)

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Publication number Priority date Publication date Assignee Title
US4867569A (en) * 1986-08-22 1989-09-19 Sanyo Electric Co., Ltd. Apparatus for detecting a position of an electronic part
US4951383A (en) * 1988-11-14 1990-08-28 Sanyo Electric Co., Ltd. Electronic parts automatic mounting apparatus
EP0395002A2 (en) * 1989-04-28 1990-10-31 Sanyo Electric Co., Ltd. Electronic parts mounting apparatus
EP0395002A3 (en) * 1989-04-28 1991-07-10 Sanyo Electric Co., Ltd. Electronic parts mounting apparatus
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JPH0797019B2 (ja) 1995-10-18
KR880001195A (ko) 1988-03-31
JPS63106506A (ja) 1988-05-11
KR910001267B1 (ko) 1991-02-26

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